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Tagged with ros-control pid
5 questions
0
votes
0
answers
7
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PID package with PID controllers specified in URDF
I am trying to tune the PIDs of my robot with this package:
http://wiki.ros.org/pid
by running the node "autotune".
My PIDs are specified as usual: a config.yaml file with the list of ...
- 25
0
votes
1
answer
36
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How does ROS_control compute the dynamic model of the robot?
Suppose I want to use a torque control of the form :
$$
\tau = J^T(q) \left( K_p (p_d - p) - K_d \dot{p} \right) + g(q)
$$
given that:
$$
M(q) \ddot{q} + C(q, \dot{q}) \dot{q} + g(q) = \tau
$$
where $...
- 25
0
votes
1
answer
14
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How does time influence moveit motion planning?
Hello all,
I just got started with ROS and moveit! to make my robot arm plan some movements. Ultimately I would like to optimize the speed of the executed movements by tuning the actuator's PID ...
You RQT
0
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1
answer
41
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Correct way to use diff_drive_controller with PID control?
Hi,
I am just learning about ros_control and saw the diff_drive_controller plugin. I am wondering how I would correctly integrate some PID control in with this? Would I have to have the write() ...
epsilonjon
0
votes
1
answer
52
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PID Control and the Navigation Stack
Hello,
I'm trying to learn how to properly set up a standard ROS navigation and control stack to drive a field robot (one that operates outdoors, navigating primarily by GPS and possibly a compass). ...
vschmidt